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A new model for control of systems with friction

IEEE Transactions on Automatic Control · 1995 · Vol. 40(3) · pp. 419–425

Carlos Canudas de Wit✉(Centre National de la Recherche Scientifique)Henrik Olsson(Lund Science (Sweden))Karl Johan ÅströmP. Lischinsky

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Abstract

In this paper we propose a new dynamic model for friction. The model captures most of the friction behavior that has been observed experimentally. This includes the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force. Properties of the model that are relevant to control design are investigated by analysis and simulation. New control strategies, including a friction observer, are explored, and stability results are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

Dynamics and Control of Mechanical Systems Control and Stability of Dynamical Systems Hydraulic and Pneumatic SystemsStictionHysteresisControl theory (sociology)Observer (physics)Stability (learning theory)Computer scienceControl (management)Control engineeringEngineeringArtificial intelligence

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A survey on hysteresis modeling, identification and control